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<div class="title">mat.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">Copyright (c) 2007, Michael Kazhdan</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">Redistribution and use in source and binary forms, with or without modification,</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">Redistributions of source code must retain the above copyright notice, this list of</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">conditions and the following disclaimer. Redistributions in binary form must reproduce</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">the above copyright notice, this list of conditions and the following disclaimer</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">in the documentation and/or other materials provided with the distribution. </span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">Neither the name of the Johns Hopkins University nor the names of its contributors</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">may be used to endorse or promote products derived from this software without specific</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">prior written permission. </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND ANY</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES </span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">DAMAGE.</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// MinimalAreaTriangulation //</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;{</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">namespace </span>poisson</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  {</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    MinimalAreaTriangulation&lt;Real&gt;::MinimalAreaTriangulation(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      bestTriangulation=NULL;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      midPoint=NULL;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    MinimalAreaTriangulation&lt;Real&gt;::~MinimalAreaTriangulation(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keywordflow">if</span>(bestTriangulation)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keyword">delete</span>[] bestTriangulation;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      bestTriangulation=NULL;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keywordflow">if</span>(midPoint)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keyword">delete</span>[] midPoint;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      midPoint=NULL;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">void</span> MinimalAreaTriangulation&lt;Real&gt;::GetTriangulation(<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> &gt;&amp; vertices,std::vector&lt;TriangleIndex&gt;&amp; triangles)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keywordflow">if</span>(vertices.size()==3)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        triangles.resize(1);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        triangles[0].idx[0]=0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        triangles[0].idx[1]=1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        triangles[0].idx[2]=2;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span>(vertices.size()==4)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        TriangleIndex tIndex[2][2];</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        Real area[2];</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        area[0]=area[1]=0;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        triangles.resize(2);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        tIndex[0][0].idx[0]=0;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        tIndex[0][0].idx[1]=1;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        tIndex[0][0].idx[2]=2;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        tIndex[0][1].idx[0]=2;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        tIndex[0][1].idx[1]=3;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        tIndex[0][1].idx[2]=0;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        tIndex[1][0].idx[0]=0;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        tIndex[1][0].idx[1]=1;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        tIndex[1][0].idx[2]=3;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        tIndex[1][1].idx[0]=3;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        tIndex[1][1].idx[1]=1;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        tIndex[1][1].idx[2]=2;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> n,p1,p2;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;2;i++)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j=0;j&lt;2;j++)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            p1=vertices[tIndex[i][j].idx[1]]-vertices[tIndex[i][j].idx[0]];</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            p2=vertices[tIndex[i][j].idx[2]]-vertices[tIndex[i][j].idx[0]];</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            CrossProduct(p1,p2,n);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            area[i] += Real( Length(n) );</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordflow">if</span>(area[0]&gt;area[1])</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          triangles[0]=tIndex[1][0];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          triangles[1]=tIndex[1][1];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          triangles[0]=tIndex[0][0];</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          triangles[1]=tIndex[0][1];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">if</span>(bestTriangulation)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">delete</span>[] bestTriangulation;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">if</span>(midPoint)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">delete</span>[] midPoint;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      bestTriangulation=NULL;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      midPoint=NULL;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">size_t</span> eCount=vertices.size();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      bestTriangulation=<span class="keyword">new</span> Real[eCount*eCount];</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      midPoint=<span class="keyword">new</span> <span class="keywordtype">int</span>[eCount*eCount];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0;i&lt;eCount*eCount;i++)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        bestTriangulation[i]=-1;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      memset(midPoint,-1,<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>)*eCount*eCount);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      GetArea(0,1,vertices);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      triangles.clear();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      GetTriangulation(0,1,vertices,triangles);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    Real MinimalAreaTriangulation&lt;Real&gt;::GetArea(<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> &gt;&amp; vertices)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordflow">if</span>(bestTriangulation)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">delete</span>[] bestTriangulation;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordflow">if</span>(midPoint)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">delete</span>[] midPoint;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      bestTriangulation=NULL;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      midPoint=NULL;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">int</span> eCount=vertices.size();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      bestTriangulation=<span class="keyword">new</span> <span class="keywordtype">double</span>[eCount*eCount];</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      midPoint=<span class="keyword">new</span> <span class="keywordtype">int</span>[eCount*eCount];</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;eCount*eCount;i++)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        bestTriangulation[i]=-1;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      memset(midPoint,-1,<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>)*eCount*eCount);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordflow">return</span> GetArea(0,1,vertices);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordtype">void</span> MinimalAreaTriangulation&lt;Real&gt;::GetTriangulation(<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; i,<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; j,<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> &gt;&amp; vertices,std::vector&lt;TriangleIndex&gt;&amp; triangles)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      TriangleIndex tIndex;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">size_t</span> eCount=vertices.size();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">size_t</span> ii=i;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordflow">if</span>(i&lt;j)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        ii+=eCount;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">if</span>(j+1&gt;=ii)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      ii=midPoint[i*eCount+j];</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">if</span>(ii&gt;=0)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        tIndex.idx[0] = int( i );</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        tIndex.idx[1] = int( j );</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        tIndex.idx[2] = int( ii );</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        triangles.push_back(tIndex);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        GetTriangulation(i,ii,vertices,triangles);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        GetTriangulation(ii,j,vertices,triangles);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    Real MinimalAreaTriangulation&lt;Real&gt;::GetArea(<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; i,<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; j,<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> &gt;&amp; vertices)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      Real a=FLT_MAX,temp;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">size_t</span> eCount=vertices.size();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordtype">size_t</span> idx=i*eCount+j;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordtype">size_t</span> ii=i;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordflow">if</span>(i&lt;j)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        ii+=eCount;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordflow">if</span>(j+1&gt;=ii)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        bestTriangulation[idx]=0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordflow">if</span>(midPoint[idx]!=-1)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">return</span> bestTriangulation[idx];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">int</span> mid=-1;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> r=j+1;r&lt;ii;r++)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">size_t</span> rr=r%eCount;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">size_t</span> idx1=i*eCount+rr,idx2=rr*eCount+j;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Point3D&lt;Real&gt;</a> p,p1,p2;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        p1=vertices[i]-vertices[rr];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        p2=vertices[j]-vertices[rr];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        CrossProduct(p1,p2,p);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        temp = Real( Length(p) );</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">if</span>(bestTriangulation[idx1]&gt;=0)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          temp+=bestTriangulation[idx1];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">if</span>(temp&gt;a)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          <span class="keywordflow">if</span>(bestTriangulation[idx2]&gt;0)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            temp+=bestTriangulation[idx2];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            temp+=GetArea(rr,j,vertices);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          <span class="keywordflow">if</span>(bestTriangulation[idx2]&gt;=0)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            temp+=bestTriangulation[idx2];</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            temp+=GetArea(rr,j,vertices);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keywordflow">if</span>(temp&gt;a)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          temp+=GetArea(i,rr,vertices);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">if</span>(temp&lt;a)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          a=temp;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          mid=int(rr);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      bestTriangulation[idx]=a;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      midPoint[idx]=mid;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">return</span> a;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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